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AP_HAL_PX4: implement RCOutput::read_last_sent

This commit is contained in:
Jonathan Challinger 2016-03-10 13:55:58 -08:00
parent 6663d30728
commit 4bf3ec0e91
2 changed files with 18 additions and 0 deletions
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16
libraries/AP_HAL_PX4/RCOutput.cpp
View File

@ -285,6 +285,22 @@ void PX4RCOutput::read(uint16_t* period_us, uint8_t len)
} }
} }
uint16_t PX4RCOutput::read_last_sent(uint8_t ch)
{
if (ch >= PX4_NUM_OUTPUT_CHANNELS) {
return 0;
}
return _period[ch];
}
void PX4RCOutput::read_last_sent(uint16_t* period_us, uint8_t len)
{
for (uint8_t i=0; i<len; i++) {
period_us[i] = read_last_sent(i);
}
}
/* /*
update actuator armed state update actuator armed state
*/ */

2
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -20,6 +20,8 @@ public:
void write(uint8_t ch, uint16_t period_us) override; void write(uint8_t ch, uint16_t period_us) override;
uint16_t read(uint8_t ch) override; uint16_t read(uint8_t ch) override;
void read(uint16_t* period_us, uint8_t len) override; void read(uint16_t* period_us, uint8_t len) override;
uint16_t read_last_sent(uint8_t ch) override;
void read_last_sent(uint16_t* period_us, uint8_t len) override;
void set_safety_pwm(uint32_t chmask, uint16_t period_us) override; void set_safety_pwm(uint32_t chmask, uint16_t period_us) override;
void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) override; void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) override;
bool force_safety_on(void) override; bool force_safety_on(void) override;